#include "wit_c_sdk.h"

static SerialWrite p_WitSerialWriteFunc = NULL;
static WitI2cWrite p_WitI2cWriteFunc = NULL;
static WitI2cRead p_WitI2cReadFunc = NULL;
static CanWrite p_WitCanWriteFunc = NULL;
static RegUpdateCb p_WitRegUpdateCbFunc = NULL;
static DelaymsCb p_WitDelaymsFunc = NULL;

static uint8_t s_ucAddr = 0xff;
static uint8_t s_ucWitDataBuff[WIT_DATA_BUFF_SIZE];
static uint32_t s_uiWitDataCnt = 0, s_uiProtoclo = 0, s_uiReadRegIndex = 0;
int16_t sReg[REGSIZE];


#define FuncW 0x06
#define FuncR 0x03

static const uint8_t __auchCRCHi[256] =
{
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
    0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
    0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
    0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
    0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
    0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
    0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
    0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
    0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
    0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
    0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
    0x40
};
static const uint8_t __auchCRCLo[256] =
{
    0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,
    0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
    0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,
    0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
    0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,
    0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
    0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE,
    0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
    0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,
    0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
    0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB,
    0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
    0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,
    0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
    0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
    0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
    0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,
    0x40
};


static uint16_t __CRC16(uint8_t* puchMsg, uint16_t usDataLen) {
    uint8_t uchCRCHi = 0xFF;
    uint8_t uchCRCLo = 0xFF;
    uint8_t uIndex;
    int i = 0;
    uchCRCHi = 0xFF;
    uchCRCLo = 0xFF;

    for (; i < usDataLen; i++) {
        uIndex = uchCRCHi ^ puchMsg[i];
        uchCRCHi = uchCRCLo ^ __auchCRCHi[uIndex];
        uchCRCLo = __auchCRCLo[uIndex];
    }

    return (uint16_t)(((uint16_t)uchCRCHi << 8) | (uint16_t)uchCRCLo);
}
static uint8_t __CaliSum(uint8_t* data, uint32_t len) {
    uint32_t i;
    uint8_t ucCheck = 0;

    for (i = 0; i < len; i++) ucCheck += *(data + i);

    return ucCheck;
}
int32_t WitSerialWriteRegister(SerialWrite Write_func) {
    if (!Write_func)return WIT_HAL_INVAL;

    p_WitSerialWriteFunc = Write_func;
    return WIT_HAL_OK;
}
static void CopeWitData(uint8_t ucIndex, uint16_t* p_data, uint32_t uiLen) {
    uint32_t uiReg1 = 0, uiReg2 = 0, uiReg1Len = 0, uiReg2Len = 0;
    uint16_t* p_usReg1Val = p_data;
    uint16_t* p_usReg2Val = p_data + 3;

    uiReg1Len = 4;

    switch (ucIndex) {
    case WIT_TIME:  uiReg1 = YYMM;	break;
    case WIT_ACC:   uiReg1 = AX;    uiReg1Len = 3;  uiReg2 = TEMP;  uiReg2Len = 1;  break;
    case WIT_GYRO:  uiReg1 = GX;  uiLen = 3;break;
    case WIT_ANGLE: uiReg1 = Roll;  uiReg1Len = 3;  uiReg2 = VERSION;  uiReg2Len = 1;  break;
    case WIT_MAGNETIC: uiReg1 = HX;  uiLen = 3;break;
    case WIT_DPORT: uiReg1 = D0Status;  break;
    case WIT_PRESS: uiReg1 = PressureL;  break;
    case WIT_GPS:   uiReg1 = LonL;  break;
    case WIT_VELOCITY: uiReg1 = GPSHeight;  break;
    case WIT_QUATER:    uiReg1 = q0;  break;
    case WIT_GSA:   uiReg1 = SVNUM;  break;
    case WIT_REGVALUE:  uiReg1 = s_uiReadRegIndex;  break;
    default:
        return;

    }

    if (uiLen == 3) {
        uiReg1Len = 3;
        uiReg2Len = 0;
    }

    if (uiReg1Len) {
        memcpy(&sReg[uiReg1], p_usReg1Val, uiReg1Len << 1);
        p_WitRegUpdateCbFunc(uiReg1, uiReg1Len);
    }

    if (uiReg2Len) {
        memcpy(&sReg[uiReg2], p_usReg2Val, uiReg2Len << 1);
        p_WitRegUpdateCbFunc(uiReg2, uiReg2Len);
    }
}

void WitSerialDataIn(uint8_t ucData) {
    uint16_t usCRC16, usTemp, i, usData[4];
    uint8_t ucSum;

    if (p_WitRegUpdateCbFunc == NULL)return;

    s_ucWitDataBuff[s_uiWitDataCnt++] = ucData;

    switch (s_uiProtoclo) {
    case WIT_PROTOCOL_NORMAL:
        if (s_ucWitDataBuff[0] != 0x55) {
            s_uiWitDataCnt--;
            memcpy(s_ucWitDataBuff, &s_ucWitDataBuff[1], s_uiWitDataCnt);
            return;
        }

        if (s_uiWitDataCnt >= 11) {
            ucSum = __CaliSum(s_ucWitDataBuff, 10);

            if (ucSum != s_ucWitDataBuff[10]) {
                s_uiWitDataCnt--;
                memcpy(s_ucWitDataBuff, &s_ucWitDataBuff[1], s_uiWitDataCnt);
                return;
            }

            usData[0] = ((uint16_t)s_ucWitDataBuff[3] << 8) | (uint16_t)s_ucWitDataBuff[2];
            usData[1] = ((uint16_t)s_ucWitDataBuff[5] << 8) | (uint16_t)s_ucWitDataBuff[4];
            usData[2] = ((uint16_t)s_ucWitDataBuff[7] << 8) | (uint16_t)s_ucWitDataBuff[6];
            usData[3] = ((uint16_t)s_ucWitDataBuff[9] << 8) | (uint16_t)s_ucWitDataBuff[8];
            CopeWitData(s_ucWitDataBuff[1], usData, 4);
            s_uiWitDataCnt = 0;
        }

        break;

    case WIT_PROTOCOL_MODBUS:
        if (s_uiWitDataCnt > 2) {
            if (s_ucWitDataBuff[1] != FuncR) {
                s_uiWitDataCnt--;
                memcpy(s_ucWitDataBuff, &s_ucWitDataBuff[1], s_uiWitDataCnt);
                return;
            }

            if (s_uiWitDataCnt < (s_ucWitDataBuff[2] + 5))return;

            usTemp = ((uint16_t)s_ucWitDataBuff[s_uiWitDataCnt - 2] << 8) | s_ucWitDataBuff[s_uiWitDataCnt - 1];
            usCRC16 = __CRC16(s_ucWitDataBuff, s_uiWitDataCnt - 2);

            if (usTemp != usCRC16) {
                s_uiWitDataCnt--;
                memcpy(s_ucWitDataBuff, &s_ucWitDataBuff[1], s_uiWitDataCnt);
                return;
            }

            usTemp = s_ucWitDataBuff[2] >> 1;

            for (i = 0; i < usTemp; i++) {
                sReg[i + s_uiReadRegIndex] = ((uint16_t)s_ucWitDataBuff[(i << 1) + 3] << 8) | s_ucWitDataBuff[(i << 1) + 4];
            }

            p_WitRegUpdateCbFunc(s_uiReadRegIndex, usTemp);
            s_uiWitDataCnt = 0;
        }

        break;

    case WIT_PROTOCOL_CAN:
    case WIT_PROTOCOL_I2C:
        s_uiWitDataCnt = 0;
        break;
    }

    if (s_uiWitDataCnt == WIT_DATA_BUFF_SIZE)s_uiWitDataCnt = 0;
}
int32_t WitI2cFuncRegister(WitI2cWrite write_func, WitI2cRead read_func) {
    if (!write_func)return WIT_HAL_INVAL;

    if (!read_func)return WIT_HAL_INVAL;

    p_WitI2cWriteFunc = write_func;
    p_WitI2cReadFunc = read_func;
    return WIT_HAL_OK;
}
int32_t WitCanWriteRegister(CanWrite Write_func) {
    if (!Write_func)return WIT_HAL_INVAL;

    p_WitCanWriteFunc = Write_func;
    return WIT_HAL_OK;
}
void WitCanDataIn(uint8_t ucData[8], uint8_t ucLen) {
    uint16_t usData[3];

    if (p_WitRegUpdateCbFunc == NULL)return;

    if (ucLen < 8)return;

    switch (s_uiProtoclo) {
    case WIT_PROTOCOL_CAN:
        if (ucData[0] != 0x55)return;

        usData[0] = ((uint16_t)ucData[3] << 8) | ucData[2];
        usData[1] = ((uint16_t)ucData[5] << 8) | ucData[4];
        usData[2] = ((uint16_t)ucData[7] << 8) | ucData[6];
        CopeWitData(ucData[1], usData, 3);
        break;

    case WIT_PROTOCOL_NORMAL:
    case WIT_PROTOCOL_MODBUS:
    case WIT_PROTOCOL_I2C:
        break;
    }
}
int32_t WitRegisterCallBack(RegUpdateCb update_func) {
    if (!update_func)return WIT_HAL_INVAL;

    p_WitRegUpdateCbFunc = update_func;
    return WIT_HAL_OK;
}
int32_t WitWriteReg(uint32_t uiReg, uint16_t usData) {
    uint16_t usCRC;
    uint8_t ucBuff[8];

    if (uiReg >= REGSIZE)return WIT_HAL_INVAL;

    switch (s_uiProtoclo) {
    case WIT_PROTOCOL_NORMAL:
        if (p_WitSerialWriteFunc == NULL)return WIT_HAL_EMPTY;

        ucBuff[0] = 0xFF;
        ucBuff[1] = 0xAA;
        ucBuff[2] = uiReg & 0xFF;
        ucBuff[3] = usData & 0xff;
        ucBuff[4] = usData >> 8;
        p_WitSerialWriteFunc(ucBuff, 5);
        break;

    case WIT_PROTOCOL_MODBUS:
        if (p_WitSerialWriteFunc == NULL)return WIT_HAL_EMPTY;

        ucBuff[0] = s_ucAddr;
        ucBuff[1] = FuncW;
        ucBuff[2] = uiReg >> 8;
        ucBuff[3] = uiReg & 0xFF;
        ucBuff[4] = usData >> 8;
        ucBuff[5] = usData & 0xff;
        usCRC = __CRC16(ucBuff, 6);
        ucBuff[6] = usCRC >> 8;
        ucBuff[7] = usCRC & 0xff;
        p_WitSerialWriteFunc(ucBuff, 8);
        break;

    case WIT_PROTOCOL_CAN:
        if (p_WitCanWriteFunc == NULL)return WIT_HAL_EMPTY;

        ucBuff[0] = 0xFF;
        ucBuff[1] = 0xAA;
        ucBuff[2] = uiReg & 0xFF;
        ucBuff[3] = usData & 0xff;
        ucBuff[4] = usData >> 8;
        p_WitCanWriteFunc(s_ucAddr, ucBuff, 5);
        break;

    case WIT_PROTOCOL_I2C:
        if (p_WitI2cWriteFunc == NULL)return WIT_HAL_EMPTY;

        ucBuff[0] = usData & 0xff;
        ucBuff[1] = usData >> 8;

        if (p_WitI2cWriteFunc(s_ucAddr << 1, uiReg, ucBuff, 2) != 1) {
            //printf("i2c write fail\r\n");
        }

        break;

    default:
        return WIT_HAL_INVAL;
    }

    return WIT_HAL_OK;
}
int32_t WitReadReg(uint32_t uiReg, uint32_t uiReadNum) {
    uint16_t usTemp, i;
    uint8_t ucBuff[8];

    if ((uiReg + uiReadNum) >= REGSIZE)return WIT_HAL_INVAL;

    switch (s_uiProtoclo) {
    case WIT_PROTOCOL_NORMAL:
        if (uiReadNum > 4)return WIT_HAL_INVAL;

        if (p_WitSerialWriteFunc == NULL)return WIT_HAL_EMPTY;

        ucBuff[0] = 0xFF;
        ucBuff[1] = 0xAA;
        ucBuff[2] = 0x27;
        ucBuff[3] = uiReg & 0xff;
        ucBuff[4] = uiReg >> 8;
        p_WitSerialWriteFunc(ucBuff, 5);
        break;

    case WIT_PROTOCOL_MODBUS:
        if (p_WitSerialWriteFunc == NULL)return WIT_HAL_EMPTY;

        usTemp = uiReadNum << 1;

        if ((usTemp + 5) > WIT_DATA_BUFF_SIZE)return WIT_HAL_NOMEM;

        ucBuff[0] = s_ucAddr;
        ucBuff[1] = FuncR;
        ucBuff[2] = uiReg >> 8;
        ucBuff[3] = uiReg & 0xFF;
        ucBuff[4] = uiReadNum >> 8;
        ucBuff[5] = uiReadNum & 0xff;
        usTemp = __CRC16(ucBuff, 6);
        ucBuff[6] = usTemp >> 8;
        ucBuff[7] = usTemp & 0xff;
        p_WitSerialWriteFunc(ucBuff, 8);
        break;

    case WIT_PROTOCOL_CAN:
        if (uiReadNum > 3)return WIT_HAL_INVAL;

        if (p_WitCanWriteFunc == NULL)return WIT_HAL_EMPTY;

        ucBuff[0] = 0xFF;
        ucBuff[1] = 0xAA;
        ucBuff[2] = 0x27;
        ucBuff[3] = uiReg & 0xff;
        ucBuff[4] = uiReg >> 8;
        p_WitCanWriteFunc(s_ucAddr, ucBuff, 5);
        break;

    case WIT_PROTOCOL_I2C:
        if (p_WitI2cReadFunc == NULL)return WIT_HAL_EMPTY;

        usTemp = uiReadNum << 1;

        if (WIT_DATA_BUFF_SIZE < usTemp)return WIT_HAL_NOMEM;

        if (p_WitI2cReadFunc(s_ucAddr << 1, uiReg, s_ucWitDataBuff, usTemp) == 1) {
            if (p_WitRegUpdateCbFunc == NULL)return WIT_HAL_EMPTY;

            for (i = 0; i < uiReadNum; i++) {
                sReg[i + uiReg] = ((uint16_t)s_ucWitDataBuff[(i << 1) + 1] << 8) | s_ucWitDataBuff[i << 1];
            }

            p_WitRegUpdateCbFunc(uiReg, uiReadNum);
        }

        break;

    default:
        return WIT_HAL_INVAL;
    }

    s_uiReadRegIndex = uiReg;

    return WIT_HAL_OK;
}
int32_t WitInit(uint32_t uiProtocol, uint8_t ucAddr) {
    if (uiProtocol > WIT_PROTOCOL_I2C)return WIT_HAL_INVAL;

    s_uiProtoclo = uiProtocol;
    s_ucAddr = ucAddr;
    s_uiWitDataCnt = 0;
    return WIT_HAL_OK;
}
void WitDeInit(void) {
    p_WitSerialWriteFunc = NULL;
    p_WitI2cWriteFunc = NULL;
    p_WitI2cReadFunc = NULL;
    p_WitCanWriteFunc = NULL;
    p_WitRegUpdateCbFunc = NULL;
    s_ucAddr = 0xff;
    s_uiWitDataCnt = 0;
    s_uiProtoclo = 0;
}

int32_t WitDelayMsRegister(DelaymsCb delayms_func) {
    if (!delayms_func)return WIT_HAL_INVAL;

    p_WitDelaymsFunc = delayms_func;
    return WIT_HAL_OK;
}

char CheckRange(short sTemp, short sMin, short sMax) {
    if ((sTemp >= sMin) && (sTemp <= sMax)) return 1;
    else return 0;
}
/*Acceleration calibration demo*/
int32_t WitStartAccCali(void) {
    /*
        First place the equipment horizontally, and then perform the following operations
    */
    if (WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK)	    return  WIT_HAL_ERROR;// unlock reg

    if (s_uiProtoclo == WIT_PROTOCOL_MODBUS)	p_WitDelaymsFunc(20);
    else if (s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
    else;

    if (WitWriteReg(CALSW, CALGYROACC) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    return WIT_HAL_OK;
}
int32_t WitStopAccCali(void) {
    if (WitWriteReg(CALSW, NORMAL) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    if (s_uiProtoclo == WIT_PROTOCOL_MODBUS)	p_WitDelaymsFunc(20);
    else if (s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
    else;

    if (WitWriteReg(SAVE, SAVE_PARAM) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    return WIT_HAL_OK;
}
/*Magnetic field calibration*/
int32_t WitStartMagCali(void) {
    if (WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    if (s_uiProtoclo == WIT_PROTOCOL_MODBUS)	p_WitDelaymsFunc(20);
    else if (s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
    else;

    if (WitWriteReg(CALSW, CALMAGMM) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    return WIT_HAL_OK;
}
int32_t WitStopMagCali(void) {
    if (WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    if (s_uiProtoclo == WIT_PROTOCOL_MODBUS)	p_WitDelaymsFunc(20);
    else if (s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
    else;

    if (WitWriteReg(CALSW, NORMAL) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    return WIT_HAL_OK;
}
/*change Band*/
int32_t WitSetUartBaud(int32_t uiBaudIndex) {
    if (!CheckRange(uiBaudIndex, WIT_BAUD_4800, WIT_BAUD_230400)) {
        return WIT_HAL_INVAL;
    }

    if (WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    if (s_uiProtoclo == WIT_PROTOCOL_MODBUS)	p_WitDelaymsFunc(20);
    else if (s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
    else;

    if (WitWriteReg(BAUD, uiBaudIndex) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    return WIT_HAL_OK;
}
/*change Can Band*/
int32_t WitSetCanBaud(int32_t uiBaudIndex) {
    if (!CheckRange(uiBaudIndex, CAN_BAUD_1000000, CAN_BAUD_3000)) {
        return WIT_HAL_INVAL;
    }

    if (WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    if (s_uiProtoclo == WIT_PROTOCOL_MODBUS)	p_WitDelaymsFunc(20);
    else if (s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
    else;

    if (WitWriteReg(BAUD, uiBaudIndex) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    return WIT_HAL_OK;
}
/*change Bandwidth*/
int32_t WitSetBandwidth(int32_t uiBaudWidth) {
    if (!CheckRange(uiBaudWidth, BANDWIDTH_256HZ, BANDWIDTH_5HZ)) {
        return WIT_HAL_INVAL;
    }

    if (WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    if (s_uiProtoclo == WIT_PROTOCOL_MODBUS)	p_WitDelaymsFunc(20);
    else if (s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
    else;

    if (WitWriteReg(BANDWIDTH, uiBaudWidth) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    return WIT_HAL_OK;
}

/*change output rate */
int32_t WitSetOutputRate(int32_t uiRate) {
    if (!CheckRange(uiRate, RRATE_02HZ, RRATE_NONE)) {
        return WIT_HAL_INVAL;
    }

    if (WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    if (s_uiProtoclo == WIT_PROTOCOL_MODBUS)	p_WitDelaymsFunc(20);
    else if (s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
    else;

    if (WitWriteReg(RRATE, uiRate) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    return WIT_HAL_OK;
}

/*change WitSetContent */
int32_t WitSetContent(int32_t uiRsw) {
    if (!CheckRange(uiRsw, RSW_TIME, RSW_MASK)) {
        return WIT_HAL_INVAL;
    }

    if (WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    if (s_uiProtoclo == WIT_PROTOCOL_MODBUS)	p_WitDelaymsFunc(20);
    else if (s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
    else;

    if (WitWriteReg(RSW, uiRsw) != WIT_HAL_OK)	return  WIT_HAL_ERROR;

    return WIT_HAL_OK;
}



